Reducing Navigation Errors by Planning with Realistic Vehicle Model

Abstract

In this paper, we address the problem of reducing navigation errors using a realistic vehicle model during the path planning phase. Previous works which use a simple kinematic model generate paths that can only be followed at low speed. Considering a moderate or high speed during navigation, the vehicle can significantly skid and deviate from the planned trajectory. Consequently, the planned paths became unusable for the mission achievement. To reduce these errors, we propose a realistic path planner based on a dynamic vehicle model